Antagonistic Control: Foundations, Scalability and Nonlinearity

Abstract

This paper studies the worst-case impact of constrained control inputs: an input seeks to maximize the average cost of some outputs, measured in the $L_2$ or $L_1$ norm, while remaining bounded in terms of other outputs. This problem template subsumes classical metrics such as the $H_\infty$ norm and the output-to-output gain, and arises in adversarial control, security assessment, and robust control. For linear time-invariant systems, we provide an exact semi-definite program (SDP) when there is a single constraint, and SDPs computing upper bounds when there are multiple constraints. We derive sufficient conditions, in terms of system zeros and relative degrees, under which the worst-case cost is unbounded, together with a constructive closed-loop modification that removes the unboundedness. From a security standpoint, unbounded values reveal structural limitations in detecting certain attack inputs. For positive systems, we provide scalable formulations whose complexity grows linearly in the state dimension: a scalable SDP for quadratic costs, and an exact linear program for linear costs. The results extend to nonlinear polynomial systems via a sum-of-squares program. We illustrate the results with numerical examples.